Revision 0:83c0cb554099, committed 2010-11-27

Comitter:

aberk

Date:

Sat Nov 27 12:15:03 2010 +0000

Commit message:

Version 1.0

Changed in this revision

diff -r 000000000000 -r 83c0cb554099 HMC6352.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC6352.cpp	Sat Nov 27 12:15:03 2010 +0000
@@ -0,0 +1,270 @@
+/**
+ * @author Aaron Berk
+ * 
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * Honeywell HMC6352 digital compass.
+ *
+ * Datasheet:
+ *
+ * http://www.ssec.honeywell.com/magnetic/datasheets/HMC6352.pdf
+ */
+
+/**
+ * Includes
+ */
+#include "HMC6352.h"
+
+HMC6352::HMC6352(PinName sda, PinName scl) {
+
+    i2c_ = new I2C(sda, scl);
+    //100KHz, as specified by the datasheet.
+    i2c_->frequency(100000);
+
+    operationMode_ = getOpMode();
+
+}
+
+int HMC6352::sample(void) {
+
+    char tx[1];
+    char rx[2];
+
+    if (operationMode_ == HMC6352_STANDBY || operationMode_ == HMC6352_QUERY) {
+        tx[0] = HMC6352_GET_DATA;
+
+        i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+        wait_ms(1);
+    }
+
+    i2c_->read((HMC6352_I2C_ADDRESS << 1) | 0x01, rx, 2);
+    wait_ms(1);
+
+    return (((int)rx[0] << 8) | (int)rx[1]);
+
+}
+
+void HMC6352::setSleepMode(int exitOrEnter) {
+
+    char tx[1];
+
+    tx[0] = exitOrEnter;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+    wait_ms(1);
+
+}
+
+void HMC6352::setReset(void) {
+
+    char tx[1];
+
+    tx[0] = HMC6352_SET_RESET;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+    wait_ms(7);
+
+}
+
+void HMC6352::setCalibrationMode(int exitOrEnter) {
+
+    char tx[1];
+    int delay = 0;
+
+    tx[0] = exitOrEnter;
+
+    if (exitOrEnter == HMC6352_EXIT_CALIB) {
+        delay = 15;
+    } else if (exitOrEnter == HMC6352_ENTER_CALIB) {
+        delay = 1;
+    }
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+    wait_ms(delay);
+
+}
+
+void HMC6352::saveOpMode(void) {
+
+    char tx[1];
+
+    tx[0] = HMC6352_SAVE_OPMODE;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+    wait_ms(1);
+
+}
+
+int HMC6352::getSlaveAddress(void) {
+
+    return read(HMC6352_EEPROM_READ, HMC6352_SLAVE_ADDR);
+
+}
+
+int HMC6352::getOffset(int axis) {
+
+    char rx[2] = {0x00, 0x00};
+
+    if (axis == HMC6352_MX_OFFSET) {
+
+        rx[0] = read(HMC6352_EEPROM_READ, HMC6352_MX_OFF_MSB);
+        rx[1] = read(HMC6352_EEPROM_READ, HMC6352_MX_OFF_LSB);
+
+    } else if (axis == HMC6352_MY_OFFSET) {
+
+        rx[0] = read(HMC6352_EEPROM_READ, HMC6352_MY_OFF_MSB);
+        rx[1] = read(HMC6352_EEPROM_READ, HMC6352_MY_OFF_LSB);
+
+    }
+
+    return ((rx[0] << 8) | (rx[1]));
+
+}
+
+void HMC6352::setOffset(int axis, int offset) {
+
+    char tx[2] = {0x00, 0x00};
+
+    tx[0] = (offset & 0x0000FF00) >> 8;
+    tx[1] = (offset & 0x000000FF);
+
+    if (axis == HMC6352_MX_OFFSET) {
+
+        write(HMC6352_EEPROM_WRITE, HMC6352_MX_OFF_MSB, tx[0]);
+        write(HMC6352_EEPROM_WRITE, HMC6352_MX_OFF_MSB, tx[1]);
+
+    } else if (axis == HMC6352_MY_OFFSET) {
+
+        write(HMC6352_EEPROM_WRITE, HMC6352_MY_OFF_MSB, tx[0]);
+        write(HMC6352_EEPROM_WRITE, HMC6352_MY_OFF_MSB, tx[1]);
+
+    }
+
+}
+
+int HMC6352::getTimeDelay(void) {
+
+    return read(HMC6352_EEPROM_READ, HMC6352_TIME_DELAY);
+
+}
+
+void HMC6352::setTimeDelay(int delay) {
+
+    write(HMC6352_EEPROM_WRITE, HMC6352_TIME_DELAY, delay);
+
+}
+
+int HMC6352::getSumNumber(void) {
+
+    return read(HMC6352_EEPROM_READ, HMC6352_SUMMED);
+
+}
+
+void HMC6352::setSumNumber(int sum) {
+
+    write(HMC6352_EEPROM_WRITE, HMC6352_SUMMED, sum);
+
+}
+
+int HMC6352::getSoftwareVersion(void) {
+
+    return read(HMC6352_EEPROM_READ, HMC6352_SOFT_VER);
+
+}
+
+int HMC6352::getOpMode(void) {
+
+    int response = 0;
+
+    response = read(HMC6352_RAM_READ, HMC6352_RAM_OPMODE);
+
+    return (response & 0x00000003);
+
+}
+
+void HMC6352::setOpMode(int mode, int periodicSetReset, int measurementRate) {
+
+    char opModeByte = mode;
+
+    if (periodicSetReset == 1) {
+        opModeByte |= HMC6352_PERIODIC_SR;
+    }
+
+    if (measurementRate == 5) {
+        opModeByte |= HMC6352_CM_MR_5HZ;
+    } else if (measurementRate == 10) {
+        opModeByte |= HMC6352_CM_MR_10HZ;
+    } else if (measurementRate == 20) {
+        opModeByte |= HMC6352_CM_MR_20HZ;
+    }
+
+    write(HMC6352_RAM_WRITE, HMC6352_RAM_OPMODE, opModeByte);
+    write(HMC6352_EEPROM_WRITE, HMC6352_OPMODE, opModeByte);
+
+    operationMode_ = mode;
+
+}
+
+int HMC6352::getOutputMode(void) {
+
+    return read(HMC6352_RAM_READ, HMC6352_RAM_OUTPUT);
+
+}
+
+void HMC6352::setOutputMode(int mode) {
+
+    write(HMC6352_RAM_WRITE, HMC6352_RAM_OUTPUT, mode);
+
+}
+
+void HMC6352::write(int EepromOrRam, int address, int data) {
+
+    char tx[3];
+
+    tx[0] = EepromOrRam;
+    tx[1] = address;
+    tx[2] = data;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 3);
+    wait_ms(1);
+
+}
+
+int HMC6352::read(int EepromOrRam, int address) {
+
+    char tx[2];
+    char rx[1];
+
+    tx[0] = EepromOrRam;
+    tx[1] = address;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    wait_ms(1);
+    i2c_->read((HMC6352_I2C_ADDRESS << 1) | 0x01, rx, 1);
+    wait_ms(1);
+
+    return (rx[0]);
+
+}

diff -r 000000000000 -r 83c0cb554099 HMC6352.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC6352.h	Sat Nov 27 12:15:03 2010 +0000
@@ -0,0 +1,283 @@
+/**
+ * @author Aaron Berk
+ * 
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * Honeywell HMC6352 digital compass.
+ *
+ * Datasheet:
+ *
+ * http://www.ssec.honeywell.com/magnetic/datasheets/HMC6352.pdf
+ */
+
+#ifndef HMC6352_H
+#define HMC6352_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define HMC6352_I2C_ADDRESS  0x21 //7-bit address. 0x43 write, 0x42 read.
+
+//Commands.
+#define HMC6352_EEPROM_WRITE 0x77
+#define HMC6352_EEPROM_READ  0x72
+#define HMC6352_RAM_WRITE    0x47
+#define HMC6352_RAM_READ     0x67
+#define HMC6352_ENTER_SLEEP  0x53
+#define HMC6352_EXIT_SLEEP   0x57
+#define HMC6352_SET_RESET    0x4F
+#define HMC6352_ENTER_CALIB  0x43
+#define HMC6352_EXIT_CALIB   0x45
+#define HMC6352_SAVE_OPMODE  0x4C
+#define HMC6352_GET_DATA     0x41
+
+//EEPROM locations.
+#define HMC6352_SLAVE_ADDR   0x00
+#define HMC6352_MX_OFF_MSB   0x01
+#define HMC6352_MX_OFF_LSB   0x02
+#define HMC6352_MY_OFF_MSB   0x03
+#define HMC6352_MY_OFF_LSB   0x04
+#define HMC6352_TIME_DELAY   0x05
+#define HMC6352_SUMMED       0x06
+#define HMC6352_SOFT_VER     0x07
+#define HMC6352_OPMODE       0x08
+
+//RAM registers.
+#define HMC6352_RAM_OPMODE   0x74
+#define HMC6352_RAM_OUTPUT   0x4E
+
+#define HMC6352_MX_OFFSET    0x00
+#define HMC6352_MY_OFFSET    0x01
+
+#define HMC6352_HEADING_MODE 0x00
+#define HMC6352_RAWMAGX_MODE 0x01
+#define HMC6352_RAWMAGY_MODE 0x02
+#define HMC6352_MAGX_MODE    0x03
+#define HMC6352_MAGY_MODE    0x04
+
+//Operational mode register masks.
+#define HMC6352_CM_MR_1HZ    0x00
+#define HMC6352_CM_MR_5HZ    0x20
+#define HMC6352_CM_MR_10HZ   0x40
+#define HMC6352_CM_MR_20HZ   0x60
+
+#define HMC6352_PERIODIC_SR  0x10
+
+#define HMC6352_STANDBY      0x00
+#define HMC6352_QUERY        0x01
+#define HMC6352_CONTINUOUS   0x02
+
+/**
+ * Honeywell HMC6352 digital compass.
+ */
+class HMC6352 {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * @param sda mbed pin to use for SDA line of I2C interface.
+     * @param scl mbed pin to use for SCL line of I2C interface.
+     */
+    HMC6352(PinName sda, PinName scl);
+
+    /**
+     * Sample the device and return the result.
+     *
+     * @return In heading output mode, the current heading as a number between
+     *         0-3599, representing 0-359.9 degrees.
+     *         In raw magnetometer X output mode, the raw output of the X-axis
+     *         magnetometer.
+     *         In raw magnetometer Y mode, the raw output of the Y-axis
+     *         magnetometer.
+     *         In magnetometer X mode, the corrected output of the X-axis
+     *         magnetometer.
+     *         In magnetometer Y mode, the corrected output of the Y-axis
+     *         magnetometer.
+     */
+    int sample(void);
+
+    /**
+     * Enter into or exit from sleep mode.
+     *
+     * @param enterOrExit 0x57 -> Exit sleep mode
+     *                    0x53 -> Enter
+     */
+    void setSleepMode(int enterOrExit);
+
+    /**
+     * Update bridge offsets.
+     *
+     * Performs a set/reset immediately.
+     */
+    void setReset(void);
+
+    /**
+     * Enter into or exit from calibration mode.
+     *
+     * @param enterOrExit 0x45 -> Exit
+     *                    0x43 -> Enter
+     */
+    void setCalibrationMode(int enterOrExit);
+
+    /**
+     * Save the current operation mode byte to EEPROM.
+     */
+    void saveOpMode(void);
+
+    /**
+     * Read the memory location on the device which contains the slave address.
+     *
+     * @return The slave address of the device.
+     */
+    int getSlaveAddress(void);
+
+    /**
+     * Read the current offset for X or Y axis magnetometer.
+     *
+     * @param axis 0x00 -> X-axis
+     *             0x01 -> Y-axis
+     * @return The current offset for the axis as a 16-bit number.
+     */
+    int getOffset(int axis);
+
+    /**
+     * Set the offset for X or Y axis magnetometer.
+     *
+     * @param axis 0x00 -> X-axis
+     *             0x01 -> Y-axis
+     * @param offset The offset to set for the axis (set to a 16-bit number).
+     */
+    void setOffset(int axis, int offset);
+
+    /**
+     * Get the current time delay.
+     *
+     * @return The time delay in milliseconds.
+     */
+    int getTimeDelay(void);
+
+    /**
+     * Set the time delay of the device.
+     *
+     * @param delay The time delay to set in milliseconds (between 0-255);
+     */
+    void setTimeDelay(int delay);
+
+    /**
+     * Get the number of measurements being summed each sample.
+     *
+     * @return The number of summed measurement.
+     */
+    int getSumNumber(void);
+
+    /**
+     * Set the number of measurements being summed each sample.
+     *
+     * @param sum The number of measurements to be summed (between 0-16);
+     */
+    void setSumNumber(int sum);
+
+    /**
+     * Get the software version on the device.
+     *
+     * @return The software version number.
+     */
+    int getSoftwareVersion(void);
+
+    /**
+     * Get the current operation mode.
+     *
+     * @return 0x00 -> Standby mode
+     *         0x01 -> Query mode
+     *         0x02 -> Continuous mode
+     */
+    int getOpMode(void);
+
+    /**
+     * Set the operation mode.
+     *
+     * @param mode 0x00 -> Standby mode
+     *             0x01 -> Query mode
+     *             0x02 -> Continuous mode
+     * @param periodicSetReset 0x00 -> No periodic set/reset
+     *                         0x01 -> Periodic set/reset
+     * @measurementRate Measurement rate in Hz for continuous rate.
+     *                  Possible rates: {1, 5, 10, 20}Hz.
+     */
+    void setOpMode(int mode, int periodicSetReset, int measurementRate = 0);
+
+    /**
+     * Get the current output mode of the device.
+     *
+     * @return The current output mode.
+     */
+    int getOutputMode(void);
+
+    /**
+     * Set the output mode of the device.
+     *
+     * @param mode 0x00 -> Heading mode
+     *             0x01 -> Raw magnetometer X mode
+     *             0x02 -> Raw magnetometer Y mode
+     *             0x03 -> Magnetometer X mode
+     *             0x04 -> Magnetometer Y mode
+     */
+    void setOutputMode(int mode);
+
+private:
+
+    I2C* i2c_;
+    int  operationMode_;
+
+    /**
+     * Write to EEPROM or RAM on the device.
+     *
+     * @param EepromOrRam 0x77 -> Writing to EEPROM
+     *                    0x47 -> Writing to RAM
+     * @param address Address to write to.
+     * @param data Data to write.
+     */
+    void write(int EepromOrRam, int address, int data);
+
+    /**
+     * Read EEPROM or RAM on the device.
+     *
+     * @param EepromOrRam 0x72 -> Reading from EEPROM
+     *                    0x67 -> Reading from RAM
+     * @param address Address to read from.
+     * @return The contents of the memory address.
+     */
+    int read(int EepromOrRam, int address);
+
+};
+
+#endif /* HMC6352_H */